Zmotion XPCIE1028 User manual

Foreword
The motion controller provides rich interface, and it has excellent motion control performance, which
can meet the expansion requirements of various projects.
This manual is copyrighted by Shenzhen Technology Co., Ltd., without the written permission of the
Zmotion Technology, no person shall reproduce, translate and copy any content in this manual. The
above-mentioned actions will constitute an infringement of the copyright of the company's manual, and
Zmotion will investigate legal responsibility according to law.
For details about the ZMC controller software and the introduction and routine of each command,
please refer to the ZBASIC software manual.
Information contained in this manual is only for reference. Due to improvements in design and
functions and other aspects, Zmotion Technology reserves the final interpretation! Subject to change
without notice!
Pay attention to safety when debugging the machine!
Please be sure to design an effective safety protection device in the machine, and add an error
handling program in the software, otherwise Zmotion has no obligation or responsibility for the loss
caused.
In order to ensure the safe, normal and effective use of the product, please be sure to read this
product manual carefully before installing and using the product.

Safety Statement
⚫This chapter describes the safety precautions required for the correct use of this product. Before
using this product, please read the instructions for use and correctly understand the relevant
information on safety precautions.
⚫This product should be used in an environment that meets the design specifications, otherwise
it may cause equipment damage or personal injury, and malfunctions or component damage
caused by failure to comply with relevant regulations are not within the scope of product quality
assurance.
⚫Zmotion will not take any legal responsibility for personal safety accidents and property losses
caused by failure to comply with the contents of this manual or illegal operation of products.
Safety Level Definition
According to the level, it can be divided into " Danger " and " Caution ". Failure to operate as required
may result in moderate injury, minor injury or equipment damage.
Please keep this guide in a safe place for reading when needed, and be sure to hand this manual to
the end user.
Install
Danger
◆When the controller is disassembled, all external power supplies used by the
system should be disconnected before operation, otherwise it may cause
misoperation or damage to the equipment.
◆It is forbidden to use in the following places: places with dust, oil fume, conductive
dust, corrosive gas and flammable gas; places exposed to high temperature,
condensation, wind and rain; places with vibration and shock. Electric shock, fire
and misuse can cause product damage and deterioration.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆After installation, ensure that there are no foreign objects on the hardware circuit
board.
◆When installing, make it tightly and firmly with the mounting frame.

◆Improper installation of the controller may result in misoperation, failure and fire.
Wiring
Danger
◆The specifications and installation methods of the external wiring of the
equipment shall comply with the requirements of local power distribution
regulations.
◆When wiring, all external power supplies used by the system should be
disconnected before operation.
◆When powering on and running after the wiring work is completed, the terminals
attached to the product must be installed.
◆Cable terminals should be well insulated to ensure that the insulation distance
between cables will not be reduced after the cables are installed on the terminal
block.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆The cable connection should be carried out correctly on the basis of confirming
the type of the connected interface.
◆It should be confirmed that the cables pressed into the terminals are in good
contact.
◆Do not bundle the control wires and communication cables with the main circuit
or power supply wires, etc., and the distance between the wires should be more
than 100 mm, otherwise noise may cause malfunction.
◆If the controller is not installed properly, it may cause electric shock or equipment
failure or malfunction.

XPCIE1028 Motion Control Card User Manual V1.0
Content
Chapter I Production Information........................................................................................3
1.1. Product Information ..........................................................................................3
1.2. Function Features..............................................................................................3
1.3. System Frame ...................................................................................................4
1.4. Hardware Installment........................................................................................5
Chapter II Product Specification .........................................................................................7
2.1. Basic Specification............................................................................................7
2.2. Order Information..............................................................................................7
2.3. Interface Definition............................................................................................8
2.4. Work Environment .............................................................................................9
Chapter III Wiring, Communication Configuration ............................................................10
3.1. IO Power Interface...........................................................................................10
3.2. IO Signal Interface...........................................................................................10
3.2.1. Terminal Definition ...............................................................................11
3.3. P706 Signal Interface......................................................................................12
3.3.1. Local Axis Terminal Definition .............................................................12
3.4. X300 Signal Interface......................................................................................13
3.4.1. ACC37 Wiring Board .............................................................................13
3.4.2. Wiring Board Terminal Definition .........................................................14
3.5. IN: Digital Input................................................................................................15
3.5.1. Digital Input Specification & Wiring .....................................................16
3.5.2. Basic Usage Method ............................................................................17
3.6. OUT: Digital Output..........................................................................................17
3.6.1. Digital Output Specification & Wiring...................................................17
3.6.2. Basic Usage Method ............................................................................19
3.7. Pulse Axis Specification & Wiring ...................................................................20
3.7.1. Single-ended Axis Interface Specification & Wiring ............................20
3.7.2. Local Axis Interface Specification & Wiring .........................................21
3.7.3. Basic Usage Method ............................................................................24
3.8. DIP Switch .......................................................................................................26
3.8.1. DIP Switch ............................................................................................26
Chapter IV Accessories .....................................................................................................27
4.1. Optional Accessories ......................................................................................27
Chapter V Installation........................................................................................................29
5.1. XPCIE1028 Installation....................................................................................29
5.2. Drive Program Installation ..............................................................................29
5.3. Ordinary Network Card Install EtherCAT Bus Protocol ...................................35
Chapter VI Program & Applications...................................................................................40

XPCIE1028 Motion Control Card User Manual V1.0
6.1. ZDevelop Software Usage...............................................................................40
6.2. PC Upper-Computer Program Application .....................................................45
Chapter VII Run and Maintain ...........................................................................................48
7.1. Regular Inspection and Maintenance .............................................................48
7.2. Common Problems..........................................................................................49

XPCIE1028 Motion Control Card User Manual V1.0
Chapter I Production Information
1.1. Product Information
XPCIE1028 motion control card is a kind of new type XPCIE bus control card. It can
control multiple step motors or digital servo motors.
XPCIE1028 motion control card has many functions, such as, multi-axis point to
point motion, interpolation, trajectory planning, handwheel control, encoder position
detection, IO control, position latch, etc.
XPCIE1028 motion control card adaptation hardware custom configuration requires
CPU benchmark i5-4 generation 4 cores or above, main frequency not lower than 2GHZ,
running memory above 8G and hard disk above 256M.
XPCIE1028 motion control cards need to be used with MotionRT7.
1.2. Function Features
◆Support 4 axes motion control (standard).
◆Pulse output mode: pulse / direction
◆Support encoder position measurement, which can be configured as handwheel
input mode.
◆Maximum pulse output frequency of pulse axis is 10MHZ.
◆Support 8 high-speed inputs and 4 latch inputs, support 16 high-speed outputs and
4 PWM outputs.
◆The maximum output current of general digital outputs can reach 300mA, which can
directly drive some kinds of solenoid valves.
◆Support linear interpolation, arbitrary circular interpolation, helical interpolation and

XPCIE1028 Motion Control Card User Manual V1.0
continuous interpolation.
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis and other functions.
◆Support pulse closed loop, pitch compensation and other functions.
◆Support multi-file and multi-task programming in ZBasic.
◆A variety of program encryption methods to protect the intellectual property rights of
customers.
1.3. System Frame

XPCIE1028 Motion Control Card User Manual V1.0
1.4. Hardware Installment
Size: 120*106mm
The card slot interface is designed according to the standard card of PCIE*1, and it
is compatible with from PCIE*1 to PCIE*6.
PCI doesn’t support plug in or pull out when in hot, so please close the computer
before inserting and pulling the card.
Please handle it carefully. Before touching the control card circuit or
inserting/pulling the control card, please wear anti-static gloves or touch an
effectively grounded metal object to discharge the human body to prevent
possible static electricity from damaging the motion control card.

XPCIE1028 Motion Control Card User Manual V1.0
Installation
attention
⚫Non-professionals are strictly prohibited to operate. Specifically,
professionals who had been trained related electrical equipment,
or who master electrical knowledge.
⚫Please be sure to read the product instruction manual and safety
precautions carefully before installation.
⚫Before installation, please ensure that the product is powered off.
⚫Do not disassemble the module, otherwise the machine may be
damaged.
⚫Avoid direct sunlight installation.
⚫In order to facilitate ventilation and controller replacement, 2-3cm
should be left between the upper and lower parts of the controller
and the installation environment and surrounding components.
⚫Considering the convenient operation and maintenance of the
controller, please do not install the controller in the following
places:
a) places where the surrounding ambient temperature exceeds
the range of -20°C-60°C
b) places where the ambient humidity exceeds the range of 10%-
95% (non-condensing)
c) places with corrosive gases and flammable gases
d) places with many conductive powders such as dust and iron
powder, oil mist, salt, and organic solvents